Simrad PSIMDE datagram format
Simrad PSIMDE is a proprietary datagram format created by Kongsberg Discovery to provide the depth of the sensor. It also provides the horizontal distance and the slant range between the vessel and the sensor, as well as the true bearing. These values are used together with the GPS position of the vessel to calculate the position of the sensor.
Format
$PSIMDE,xx,M,yy,M,z.z,T,g.g,M,hhmmss*hh<CR><LF>
Description
1 $PSIMDETalker identifier
2 xx,MSlant Range to sensor (metres)
3 yy,MHorizontal range to sensor (metres)
4 z.z,TTrue Bearing (metres)
5 g.g,MDepth (metres)
6 hhmmssTime of transmission
7 *hhChecksum